Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 202:1baff0df86d1
- Parent:
- 201:5d1a3aa50fe0
- Child:
- 203:cb2a3ea31dce
--- a/main.cpp Mon Feb 12 00:02:50 2018 +0000 +++ b/main.cpp Mon Feb 12 01:13:52 2018 +0000 @@ -78,32 +78,15 @@ constrain_norm(&foc.vd, &foc.vq, 1.0f, 1.0f, 1.0f + _OVERMODULATION_FACTOR); - /* - if (!control.enabled) { - foc.vd = 0.0f; - foc.vq = 0.0f; - } - */ - float pv = foc.p + read.w / _V_PHASE_SWIZZLE; float sin_pv = sinf(pv); float cos_pv = cosf(pv); /*inverse transforms*/ invpark(foc.vd, foc.vq, sin_pv, cos_pv, &foc.valpha, &foc.vbeta); - + + /*set outputs*/ float va, vb, vc, voff; - - //invclarke(foc.valpha, foc.vbeta, &va, &vb); - //vc = -va - vb; - - /*SVPWM*/ - //voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it - //va = va - voff; - //vb = vb - voff; - //vc = vc - voff; - - /*set outputs*/ switch (BREMS_mode) { case MODE_CFG: va = 0.0f; @@ -148,7 +131,6 @@ go_disabled(); break; } - /*log data*/ if (_ENABLE_LOGGING) { @@ -164,6 +146,7 @@ } } + /*disable outputs if necessary*/ if (!control.enabled) { va = 0.0f; vb = 0.0f; vc = 0.0f; }